Robot Workbench/cs: Difference between revisions
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[[Image: |
[[Image:Workbench_Robot.svg|64px]] |
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== Introduction == |
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<div class="mw-translate-fuzzy"> |
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The robot workbench is a tool to simulate industrial grade [[Robot_6-Axis/cs|Robot 6-Axis]], like e.g. [http://kuka.com/ Kuka]. |
The robot workbench is a tool to simulate industrial grade [[Robot_6-Axis/cs|Robot 6-Axis]], like e.g. [http://kuka.com/ Kuka]. |
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You can do the following tasks: |
You can do the following tasks: |
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* simulate the robot movement and reachability |
* simulate the robot movement and reachability |
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* export the trajectory to a robot program file |
* export the trajectory to a robot program file |
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</div> |
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You can do the following tasks: |
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* Set up a simulation environment with a robot and work pieces. |
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* Create and fill up movement trajectories. |
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* Decompose features of a CAD part to a trajectory. |
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* Simulate the robot movement and reaching distance. |
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* Export the trajectory to a robot program file. |
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To get started try the [[Robot tutorial]], and see the programming interface in the [https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py RobotExample.py] example file. |
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{{TOCright}} |
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You can find an example here: |
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[[Image:Robot_Workbench_example.jpg|600px]] |
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[https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py Example files] or try |
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the [[Robot tutorial]]. |
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== Tools == |
== Tools == |
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* [[Image:Robot_Simulate.png|30px]] [[Robot_Simulate|Simulate a trajectory]]: Opens the simulation dialog and lets you simulate |
* [[Image:Robot_Simulate.png|30px]] [[Robot_Simulate|Simulate a trajectory]]: Opens the simulation dialog and lets you simulate |
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* [[Image:Robot_Export.png|30px]] [[Robot_Export|Export a trajectory]]: Export a robot program file |
* [[Image:Robot_Export.png|30px]] [[Robot_Export|Export a trajectory]]: Export a robot program file |
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* [[Image:Robot_SetHomePos.png|30px]] [[Robot_SetHomePos|Set home |
* [[Image:Robot_SetHomePos.png|30px]] [[Robot_SetHomePos|Set home position]]: Set the home position of a robot |
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* [[Image:Robot_RestoreHomePos.png|30px]] [[Robot_RestoreHomePos|Restore home |
* [[Image:Robot_RestoreHomePos.png|30px]] [[Robot_RestoreHomePos|Restore home position]]: move the robot to its home position |
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=== Trajectories === |
=== Trajectories === |
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Tools to create and manipulate trajectories. There are two kinds, the parametric and non parametric ones. |
Tools to create and manipulate trajectories. There are two kinds, the parametric and non parametric ones. |
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==== |
==== Non parametric trajectories ==== |
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* [[Image:Robot_CreateTrajectory.png|30px]] [[Robot_CreateTrajectory|Create a trajectory]]: Inserts a new empty trajectory-object into the scene |
* [[Image:Robot_CreateTrajectory.png|30px]] [[Robot_CreateTrajectory|Create a trajectory]]: Inserts a new empty trajectory-object into the scene |
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* [[Image:Robot_SetDefaultOrientation.png|30px]] [[Robot_SetDefaultOrientation|Set the default orientation]]: Set the orientation way-points gets created by default |
* [[Image:Robot_SetDefaultOrientation.png|30px]] [[Robot_SetDefaultOrientation|Set the default orientation]]: Set the orientation way-points gets created by default |
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* [[Image:Robot_InsertWaypointPre.png|30px]] [[Robot_InsertWaypointPre|Insert a waypoint]]: Insert a way-point from the current mouse position into a trajectory |
* [[Image:Robot_InsertWaypointPre.png|30px]] [[Robot_InsertWaypointPre|Insert a waypoint]]: Insert a way-point from the current mouse position into a trajectory |
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==== |
==== Parametric trajectories ==== |
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* [[Image:Robot_Edge2Trac.png|30px]] [[Robot_Edge2Trac|Create a trajectory out of edges]]: Insert a new object which decompose edges to a trajectory |
* [[Image:Robot_Edge2Trac.png|30px]] [[Robot_Edge2Trac|Create a trajectory out of edges]]: Insert a new object which decompose edges to a trajectory |
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* [[Image:Robot_TrajectoryDressUp.png|30px]] [[Robot_TrajectoryDressUp|Dress-up a trajectory]]: Lets you override one or more properties of a trajectory |
* [[Image:Robot_TrajectoryDressUp.png|30px]] [[Robot_TrajectoryDressUp|Dress-up a trajectory]]: Lets you override one or more properties of a trajectory |
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== Scripting == |
== Scripting == |
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This section is generated out of: https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py |
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You can use this file directly if you want. |
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See the [[Robot API example]] for a description of the functions used to model the robot displacements. |
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Example how to use the basic robot class Robot6Axis which represents a 6-axis |
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industrial robot. The Robot module is dependent on Part but not on other modules. |
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It works mostly with the basic types Placement, Vector and Matrix. So we need |
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only: |
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{{Code|code= |
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from Robot import * |
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from Part import * |
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from FreeCAD import * |
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}} |
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=== Basic robot stuff === |
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create the robot. If you do not specify another kinematic it becomes a Puma 560 |
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{{Code|code= |
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rob = Robot6Axis() |
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print rob |
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}} |
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accessing the axis and the Tcp. Axes go from 1-6 and are in degree: |
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{{Code|code= |
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Start = rob.Tcp |
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print Start |
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print rob.Axis1 |
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}} |
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move the first axis of the robot: |
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{{Code|code= |
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rob.Axis1 = 5.0 |
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}} |
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the Tcp has changed (forward kinematic) |
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{{Code|code= |
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print rob.Tcp |
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}} |
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move the robot back to start position (reverse kinematic): |
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{{Code|code= |
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rob.Tcp = Start |
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print rob.Axis1 |
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}} |
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the same with axis 2: |
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{{Code|code= |
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rob.Axis2 = 5.0 |
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print rob.Tcp |
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rob.Tcp = Start |
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print rob.Axis2 |
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}} |
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Waypoints: |
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{{Code|code= |
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w = Waypoint(Placement(),name="Pt",type="LIN") |
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print w.Name,w.Type,w.Pos,w.Cont,w.Velocity,w.Base,w.Tool |
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}} |
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generate more. The trajectory always finds automatically a unique name for the waypoints |
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{{Code|code= |
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l = [w] |
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for i in range(5): |
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l.append(Waypoint(Placement(Vector(0,0,i*100),Vector(1,0,0),0),"LIN","Pt")) |
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}} |
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create a trajectory |
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{{Code|code= |
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t = Trajectory(l) |
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print t |
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for i in range(7): |
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t.insertWaypoints(Waypoint(Placement(Vector(0,0,i*100+500),Vector(1,0,0),0),"LIN","Pt")) |
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}} |
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see a list of all waypoints: |
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{{Code|code= |
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print t.Waypoints |
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del rob,Start,t,l,w |
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}} |
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=== Working with the document objects === |
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Working with the robot document objects: |
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first create a robot in the active document |
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{{Code|code= |
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if(App.activeDocument() == None):App.newDocument() |
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App.activeDocument().addObject("Robot::RobotObject","Robot") |
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}} |
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Define the visual representation and the kinematic definition (see [[Robot_6-Axis/cs|Robot 6-Axis]] and [[VRML Preparation for Robot Simulation|VRML Preparation for Robot Simulation]] for details about that) |
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{{Code|code= |
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App.activeDocument().Robot.RobotVrmlFile = App.getResourceDir()+"Mod/Robot/Lib/Kuka/kr500_1.wrl" |
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App.activeDocument().Robot.RobotKinematicFile = App.getResourceDir()+"Mod/Robot/Lib/Kuka/kr500_1.csv" |
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}} |
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start positon of the Axis (only that which differ from 0) |
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{{Code|code= |
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App.activeDocument().Robot.Axis2 = -90 |
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App.activeDocument().Robot.Axis3 = 90 |
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}} |
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retrieve the Tcp position |
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{{Code|code= |
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pos = FreeCAD.getDocument("Unnamed").getObject("Robot").Tcp |
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}} |
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move the robot |
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{{Code|code= |
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pos.move(App.Vector(-10,0,0)) |
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FreeCAD.getDocument("Unnamed").getObject("Robot").Tcp = pos |
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}} |
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create an empty Trajectory object in the active document |
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{{Code|code= |
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App.activeDocument().addObject("Robot::TrajectoryObject","Trajectory") |
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}} |
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get the Trajectory |
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{{Code|code= |
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t = App.activeDocument().Trajectory.Trajectory |
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}} |
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add the actual TCP position of the robot to the trajectory |
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{{Code|code= |
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StartTcp = App.activeDocument().Robot.Tcp |
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t.insertWaypoints(StartTcp) |
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App.activeDocument().Trajectory.Trajectory = t |
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print App.activeDocument().Trajectory.Trajectory |
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}} |
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insert some more Waypoints and the start point at the end again: |
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{{Code|code= |
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for i in range(7): |
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t.insertWaypoints(Waypoint(Placement(Vector(0,1000,i*100+500),Vector(1,0,0),i),"LIN","Pt")) |
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t.insertWaypoints(StartTcp) # end point of the trajectory |
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App.activeDocument().Trajectory.Trajectory = t |
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print App.activeDocument().Trajectory.Trajectory |
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}} |
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=== Simulation === |
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To be done..... |
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=== Exporting the trajectory === |
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The trajectory is exported by Python. That means for every control cabinet type there is a post-processor |
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Python module. Here is in detail the Kuka post-processor described |
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{{Code|code= |
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from KukaExporter import ExportCompactSub |
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ExportCompactSub(App.activeDocument().Robot,App.activeDocument().Trajectory,'D:/Temp/TestOut.src') |
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}} |
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and that's kind of how it's done: |
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{{Code|code= |
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for w in App.activeDocument().Trajectory.Trajectory.Waypoints: |
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(A,B,C) = (w.Pos.Rotation.toEuler()) |
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print ("LIN {X %.3f,Y %.3f,Z %.3f,A %.3f,B %.3f,C %.3f} ; %s"%(w.Pos.Base.x,w.Pos.Base.y,w.Pos.Base.z,A,B,C,w.Name)) |
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}} |
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== Tutorials == |
== Tutorials == |
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* [[Robot_6-Axis/cs|6-Axis Robot]] |
* [[Robot_6-Axis/cs|6-Axis Robot]] |
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* [[VRML Preparation for Robot Simulation/cs|VRML Preparation for Robot Simulation]] |
* [[VRML Preparation for Robot Simulation/cs|VRML Preparation for Robot Simulation]] |
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<div class="mw-translate-fuzzy"> |
<div class="mw-translate-fuzzy"> |
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{{docnav/cs|Arch Module/cs|Macros/cs}} |
{{docnav/cs|Arch Module/cs|Macros/cs}} |
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</div> |
</div> |
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[[Category:User Documentation/cs]] |
Revision as of 21:12, 15 January 2019
Introduction
The robot workbench is a tool to simulate industrial grade Robot 6-Axis, like e.g. Kuka. You can do the following tasks:
- set up a simulation environment with a robot and work pieces
- create and fill up trajectories
- decompose features of an CAD part to a trajectory
- simulate the robot movement and reachability
- export the trajectory to a robot program file
You can do the following tasks:
- Set up a simulation environment with a robot and work pieces.
- Create and fill up movement trajectories.
- Decompose features of a CAD part to a trajectory.
- Simulate the robot movement and reaching distance.
- Export the trajectory to a robot program file.
To get started try the Robot tutorial, and see the programming interface in the RobotExample.py example file.
Tools
Here the principal commands you can use to create a robot set-up.
Robots
The tools to create and manage the 6-Axis robots
- Create a robot: Insert a new robot into the scene
- Simulate a trajectory: Opens the simulation dialog and lets you simulate
- Export a trajectory: Export a robot program file
- Set home position: Set the home position of a robot
- Restore home position: move the robot to its home position
Trajectories
Tools to create and manipulate trajectories. There are two kinds, the parametric and non parametric ones.
Non parametric trajectories
- Create a trajectory: Inserts a new empty trajectory-object into the scene
- Set the default orientation: Set the orientation way-points gets created by default
- Set the default speed parameter: Set the default values for way-point creation
- Insert a waypoint: Insert a way-point from the current robot position into a trajectory
- Insert a waypoint: Insert a way-point from the current mouse position into a trajectory
Parametric trajectories
- Create a trajectory out of edges: Insert a new object which decompose edges to a trajectory
- Dress-up a trajectory: Lets you override one or more properties of a trajectory
- Trajectory compound: Create a compound out of some single trajectories
Scripting
See the Robot API example for a description of the functions used to model the robot displacements.